Benchmark

incremental/QF_BVLRA/20240414-mapf_r/soc/coef_2/grid/grid_04x04_k4_k6_D.smt2

Publications: Tomas Kolarik, Stefan Ratschan and Pavel Surynek: "Multi-Agent Path-Finding with Continuous Time Using SAT Modulo Linear Real Arithmetic" in ICAART, SCITEPRESS, 2024.
The benchmarks mimic MAPF problems with continuous time where the objective time must be sub-optimal, bounded by a user-specified coefficient. In the original solver, a simulator checks whether there are collisions between particular agents, according to the current model. This check is missing in the case of the final 'check-sat'. The benchmarks also lack commands for preferring certain variables during the search which is of huge importance when searching for short paths in a graph. However, the final plan must still avoid all collisions encountered by the original solver and the objective time must obey the sub-optimal coefficient. Producing models is crucial for the application since the intended solver communicates values of particular variables with the simulator. This communication is ommited though for simplicity. The final 'get-value' allows to compare with the original solver that the objective time indeed obeys the coefficient. Filenames without the extensions correspond to filenames of resulting plans of the original solver.
Benchmark
Size2149334
Compressed Size99023
License Creative Commons Attribution 4.0 International (CC-BY-4.0)
Categoryindustrial
First Occurrence
Generated ByTomas Kolarik
Generated On2024-04-14 00:00:00
Generatorgitlab.com/Tomaqa/mapf_r
Dolmen OK1
strict Dolmen OK1
check-sat calls52
Query 1
Status sat
Inferred Status None
Size 111105
Compressed Size8795
Max. Term Depth14
Asserts 995
Declared Functions0
Declared Constants334
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not908 or1351 and816 =2767
/318 +66 -54 *54
<=36
Query 2
Status sat
Inferred Status None
Size 170368
Compressed Size11379
Max. Term Depth14
Asserts 1166
Declared Functions0
Declared Constants334
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not1592 or2206 and816 =3451
/620 +1092 -939 *738
<=378
Query 3
Status sat
Inferred Status None
Size 233427
Compressed Size14351
Max. Term Depth14
Asserts 1349
Declared Functions0
Declared Constants334
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not2324 or3121 and816 =4183
/952 +2190 -1862 *1470
<=744
Query 4
Status sat
Inferred Status None
Size 275514
Compressed Size16398
Max. Term Depth14
Asserts 1483
Declared Functions0
Declared Constants334
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not2800 or3729 and818 =4657
/1122 +2932 -2495 *1974
<=1012
Query 5
Status sat
Inferred Status None
Size 339499
Compressed Size19118
Max. Term Depth14
Asserts 1691
Declared Functions0
Declared Constants334
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not3514 or4648 and821 =5368
/1365 +4059 -3443 *2751
<=1428
Query 6
Status sat
Inferred Status None
Size 381768
Compressed Size21260
Max. Term Depth14
Asserts 1828
Declared Functions0
Declared Constants334
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not3991 or5258 and825 =5841
/1532 +4806 -4076 *3224
<=1702
Query 7
Status unsat
Inferred Status None
Size 417227
Compressed Size22764
Max. Term Depth14
Asserts 1941
Declared Functions0
Declared Constants334
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not4388 or5764 and829 =6234
/1679 +5425 -4584 *3652
<=1928
Query 8
Status sat
Inferred Status None
Size 571522
Compressed Size33484
Max. Term Depth14
Asserts 3395
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not5818 or7896 and2157 =10606
/2183 +5449 -4602 *3670
<=1940
Query 9
Status sat
Inferred Status None
Size 598848
Compressed Size35122
Max. Term Depth14
Asserts 3479
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not6130 or8290 and2159 =10916
/2309 +5927 -4998 *3992
<=2108
Query 10
Status sat
Inferred Status None
Size 641658
Compressed Size37313
Max. Term Depth14
Asserts 3610
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not6619 or8909 and2160 =11404
/2489 +6677 -5633 *4484
<=2370
Query 11
Status sat
Inferred Status None
Size 730424
Compressed Size40954
Max. Term Depth14
Asserts 3883
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not7630 or10191 and2162 =12413
/2834 +8232 -6914 *5516
<=2916
Query 12
Status sat
Inferred Status None
Size 789216
Compressed Size44118
Max. Term Depth14
Asserts 4061
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not8304 or11039 and2166 =13083
/3087 +9258 -7789 *6215
<=3272
Query 13
Status sat
Inferred Status None
Size 820051
Compressed Size45713
Max. Term Depth14
Asserts 4154
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not8660 or11485 and2169 =13436
/3229 +9797 -8246 *6572
<=3458
Query 14
Status sat
Inferred Status None
Size 869174
Compressed Size48360
Max. Term Depth14
Asserts 4302
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not9227 or12195 and2174 =13998
/3456 +10655 -8976 *7136
<=3754
Query 15
Status sat
Inferred Status None
Size 910722
Compressed Size50579
Max. Term Depth14
Asserts 4431
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not9701 or12796 and2176 =14470
/3627 +11385 -9590 *7634
<=4012
Query 16
Status sat
Inferred Status None
Size 930919
Compressed Size51730
Max. Term Depth14
Asserts 4498
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not9927 or13087 and2178 =14694
/3689 +11743 -9886 *7886
<=4146
Query 17
Status sat
Inferred Status None
Size 943841
Compressed Size52411
Max. Term Depth14
Asserts 4538
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not10073 or13272 and2179 =14839
/3751 +11968 -10080 *8039
<=4226
Query 18
Status sat
Inferred Status None
Size 976025
Compressed Size53849
Max. Term Depth14
Asserts 4633
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not10445 or13737 and2181 =15209
/3912 +12528 -10537 *8416
<=4416
Query 19
Status sat
Inferred Status None
Size 998585
Compressed Size54981
Max. Term Depth14
Asserts 4704
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not10700 or14062 and2182 =15463
/4008 +12924 -10866 *8684
<=4558
Query 20
Status sat
Inferred Status None
Size 1008449
Compressed Size55540
Max. Term Depth14
Asserts 4733
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not10813 or14203 and2183 =15575
/4064 +13094 -11016 *8798
<=4616
Query 21
Status sat
Inferred Status None
Size 1049909
Compressed Size57626
Max. Term Depth14
Asserts 4862
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not11280 or14799 and2183 =16042
/4245 +13819 -11638 *9287
<=4874
Query 22
Status sat
Inferred Status None
Size 1116996
Compressed Size60455
Max. Term Depth14
Asserts 5065
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not12044 or15766 and2183 =16806
/4535 +14989 -12610 *10096
<=5280
Query 23
Status sat
Inferred Status None
Size 1130439
Compressed Size61142
Max. Term Depth14
Asserts 5105
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not12200 or15961 and2184 =16961
/4602 +15224 -12792 *10251
<=5360
Query 24
Status sat
Inferred Status None
Size 1167074
Compressed Size63060
Max. Term Depth14
Asserts 5215
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not12622 or16492 and2185 =17382
/4779 +15865 -13336 *10683
<=5580
Query 25
Status sat
Inferred Status None
Size 1187425
Compressed Size64207
Max. Term Depth14
Asserts 5277
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not12856 or16787 and2186 =17615
/4873 +16222 -13642 *10916
<=5704
Query 26
Status sat
Inferred Status None
Size 1214233
Compressed Size65220
Max. Term Depth14
Asserts 5363
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not13158 or17175 and2186 =17917
/4952 +16696 -14032 *11258
<=5876
Query 27
Status sat
Inferred Status None
Size 1226143
Compressed Size65789
Max. Term Depth14
Asserts 5401
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not13294 or17346 and2189 =18050
/5004 +16905 -14203 *11402
<=5952
Query 28
Status sat
Inferred Status None
Size 1231976
Compressed Size66149
Max. Term Depth14
Asserts 5419
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not13361 or17430 and2190 =18116
/5030 +17007 -14288 *11471
<=5988
Query 29
Status sat
Inferred Status None
Size 1247583
Compressed Size67062
Max. Term Depth14
Asserts 5467
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not13541 or17656 and2192 =18294
/5098 +17281 -14510 *11657
<=6084
Query 30
Status sat
Inferred Status None
Size 1284693
Compressed Size69256
Max. Term Depth14
Asserts 5578
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not13968 or18192 and2194 =18719
/5287 +17928 -15059 *12089
<=6306
Query 31
Status sat
Inferred Status None
Size 1312821
Compressed Size70580
Max. Term Depth14
Asserts 5663
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not14291 or18600 and2194 =19042
/5408 +18421 -15470 *12412
<=6476
Query 32
Status sat
Inferred Status None
Size 1333861
Compressed Size71664
Max. Term Depth14
Asserts 5725
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not14535 or18906 and2194 =19286
/5509 +18789 -15769 *12660
<=6600
Query 33
Status sat
Inferred Status None
Size 1358327
Compressed Size73156
Max. Term Depth14
Asserts 5800
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not14814 or19259 and2195 =19564
/5627 +19217 -16124 *12940
<=6750
Query 34
Status sat
Inferred Status None
Size 1399861
Compressed Size75391
Max. Term Depth14
Asserts 5925
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not15290 or19860 and2195 =20040
/5829 +19943 -16730 *13430
<=7000
Query 35
Status sat
Inferred Status None
Size 1457306
Compressed Size78247
Max. Term Depth14
Asserts 6097
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not15949 or20691 and2195 =20699
/6107 +20946 -17587 *14099
<=7344
Query 36
Status sat
Inferred Status None
Size 1483280
Compressed Size79619
Max. Term Depth14
Asserts 6174
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not16249 or21068 and2195 =20999
/6235 +21400 -17963 *14407
<=7498
Query 37
Status sat
Inferred Status None
Size 1531295
Compressed Size81706
Max. Term Depth14
Asserts 6322
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not16796 or21761 and2197 =21544
/6435 +22241 -18665 *14968
<=7794
Query 38
Status sat
Inferred Status None
Size 1589726
Compressed Size84569
Max. Term Depth14
Asserts 6502
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not17464 or22609 and2197 =22212
/6677 +23269 -19508 *15636
<=8154
Query 39
Status sat
Inferred Status None
Size 1620117
Compressed Size86039
Max. Term Depth14
Asserts 6604
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not17798 or23044 and2198 =22545
/6804 +23806 -19960 *15985
<=8358
Query 40
Status sat
Inferred Status None
Size 1645293
Compressed Size87241
Max. Term Depth14
Asserts 6679
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not18091 or23410 and2200 =22836
/6903 +24247 -20334 *16281
<=8508
Query 41
Status sat
Inferred Status None
Size 1664806
Compressed Size88084
Max. Term Depth14
Asserts 6738
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not18313 or23691 and2200 =23058
/6990 +24587 -20615 *16509
<=8626
Query 42
Status sat
Inferred Status None
Size 1698129
Compressed Size89629
Max. Term Depth14
Asserts 6841
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not18689 or24170 and2200 =23434
/7140 +25169 -21111 *16891
<=8832
Query 43
Status sat
Inferred Status None
Size 1734143
Compressed Size91348
Max. Term Depth14
Asserts 6952
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not19098 or24689 and2201 =23842
/7306 +25799 -21659 *17311
<=9054
Query 44
Status sat
Inferred Status None
Size 1752332
Compressed Size92306
Max. Term Depth14
Asserts 7006
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not19307 or24950 and2203 =24049
/7387 +26114 -21935 *17522
<=9162
Query 45
Status sat
Inferred Status None
Size 1764194
Compressed Size92928
Max. Term Depth14
Asserts 7044
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not19440 or25120 and2204 =24181
/7433 +26322 -22103 *17671
<=9238
Query 46
Status sat
Inferred Status None
Size 1783716
Compressed Size93960
Max. Term Depth14
Asserts 7104
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not19661 or25401 and2204 =24402
/7526 +26663 -22388 *17896
<=9358
Query 47
Status sat
Inferred Status None
Size 1808014
Compressed Size95170
Max. Term Depth14
Asserts 7178
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not19942 or25754 and2206 =24681
/7635 +27090 -22739 *18182
<=9506
Query 48
Status sat
Inferred Status None
Size 1827703
Compressed Size96163
Max. Term Depth14
Asserts 7236
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not20170 or26039 and2207 =24908
/7733 +27433 -23030 *18411
<=9622
Query 49
Status sat
Inferred Status None
Size 1839678
Compressed Size96835
Max. Term Depth14
Asserts 7271
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not20310 or26214 and2207 =25048
/7785 +27643 -23201 *18551
<=9692
Query 50
Status sat
Inferred Status None
Size 1839829
Compressed Size96894
Max. Term Depth14
Asserts 7274
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not20310 or26214 and2207 =25048
/7788 +27643 -23201 *18551
<=9695
Query 51
Status sat
Inferred Status None
Size 1842635
Compressed Size97087
Max. Term Depth14
Asserts 7282
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not20342 or26254 and2207 =25080
/7803 +27691 -23244 *18583
<=9711
Query 52
Status sat
Inferred Status None
Size 1842740
Compressed Size97105
Max. Term Depth14
Asserts 7284
Declared Functions0
Declared Constants443
Declared Sorts 0
Defined Functions0
Defined Recursive Functions 0
Defined Sorts0
Constants0
Declared Datatypes0

Symbols

not20342 or26254 and2207 =25080
/7805 +27691 -23244 *18583
<=9713